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Adaptive Iterative Learning Control Algorithms for Disturbance Rejection
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2000 (English)Report (Other academic)
Abstract [en]

The disturbance rejection formulation to iterative learning control is discussed and the problem of iterative learning control with measurement disturbance is covered. It is shown that by taking the measurement disturbance into consideration the resulting iterative learning control filters become time varying. To cover the case when the controlled system is non linear, time invariant and/or the disturbance that should be rejected is changing as a function of iteration, an adaptive iterative learning control algorithm is presented. The adaptive algorithm is based on an estimation procedure, using a Kalman filter and a linear quadratic optimal control solution. Results from experiments on an industrial robot show that the algorithm is successful also in an application.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2000. , 38 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2244
Keyword [en]
ILC, Iterative learning control, Optimal, Disturbance rejection
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-55670ISRN: LiTH-ISY-R-2244OAI: diva2:316401
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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Norrlöf, Mikael
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Automatic ControlThe Institute of Technology
Control Engineering

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ReferencesLink to record
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